ROS package that converts Kinect point cloud to robot's coordinates. It includes the little bit of C++ code to make the pcl and tf libraries work together, as well as some launch files for convenience.
I used this code with the kinect calibration package from https://github.com/h2r/baxter_h2r_packages to make the process of using the Kinect sensor with the Baxter robot very easy. Steps to calibrate:
- Clone this repository, and follow the instructions at baxter_h2r_packages to set up that repository. I found I needed to also clone https://github.com/sniekum/ar_track_alvar_msgs to get their calibration package working.
- Run the Baxter kinect calibration program and get the transform
- Copy the new transform (you can directly copy the output of
tf_look.py) into the relevant args of the kinect_startup_calibrated.launch file - Run the launch file
You should now have a calibrated point cloud aligned with the robot on the /transformed_points topic.